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Utilities

Simulink models for sensors debugging and other utilities.

  • homePositions: home positions of the iCub robots to be used with the yarpmotorgui.
  • debug_FTExternalForces.mdl: this model is used for checking the measurements coming from iCub legs, arms and feet FT sensors. USAGE: this model is supposed to be used only with iCubGenova02 and iCubGenova04 robots.
  • debug_FTMeas.mdl: this model is used for checking the raw measurements coming from iCub legs, arms and feet FT sensors. USAGE: this model is supposed to be used only with iCubGenova02 and iCubGenova04 robots.
  • debug_FTMeas_shoes.mdl: this model is used for checking the raw measurements coming from the sensorized shoes FT sensors. USAGE: this model is supposed to be used only with the sensorized shoes.
  • debug_positionControl.mdl: this model is used for checking the joint errors when in position control. It needs a series of controlBoardDumpers running (check the comment inside the mdl itself).
  • debug_BoschIMU.mdl: this model is used for checking if the iCub Bosch IMU (located in the iCub head) is correclty aligned with the gravity. USAGE: this model is supposed to be used only with iCubGenova02 and iCubGenova04 robots, and only with the robot on the pole.
  • debug_xSensIMU.mdl: this model is used for checking if the iCub xSens IMU (located in the iCub root link) is correclty aligned with the gravity. USAGE: this model is supposed to be used only with iCubGenova04 robot on the pole.
  • debug_seesawIMU.mdl: this model is used for checking if the seesaw IMU (located in the seesaw board) is correclty aligned with the gravity. USAGE: this model is supposed to be used only with the seesaw board.
  • releaseLegStressesWhileStanding.sh: run this script to release the internal stresses in the robot legs while standing on two feet. USAGE: this script is supposed to be used only with iCubGenova02 and iCubGenova04 robots. Run on a terminal cd PATH/TO/THIS/FOLDER && sh releaseLegStressesWhileStanding.sh.
  • plotRobotFrames.m allows displaying a set of frames given the robot model.